D.3.1 Cooperation and Communication Planning Unit Concept

Abstract

As Automated Vehicles (AVs) will be deployed in mixed traffic, they need to interact safely and efficiently with other traffic participants (TPs). The interACT project is working towards the safe integration of AVs into mixed traffic environments. In its Work Package (WP) 3, the interACT project aims to develop a novel Cooperation and Communication Planning Unit (CCPU) to enable the integrated planning and control of AV's behaviour, and the provision of time-synchronised Human Machine Interfaces (HMI) for both the on-board user and the other TPs. This document is the first deliverable of WP3 and presents the concept of the CCPU. Based on the interACT system architecture, each CCPU component, namely the Situation Matching, Interaction Planning, Trajectory Planning and Safety Layer, is described. Each description is followed by a detailed analysis of the current status and implementation plan. Apart from CCPU components, a detailed presentation of the Scenarios and Interactions Strategies digital catalogues (components of the Enablers functional block) is given, since they are not only part of WP3, but also essential for the realisation of the CCPU. Finally, the document focuses on the technical collaboration within WP3, to enable components development and integration. The interfaces from the interACT system architecture are further defined and documented and Robot Operating System (ROS) has been selected as the common software framework.